CN102384341B - Six-freedom degree motion platform - Google Patents

Six-freedom degree motion platform Download PDF

Info

Publication number
CN102384341B
CN102384341B CN2010102679767A CN201010267976A CN102384341B CN 102384341 B CN102384341 B CN 102384341B CN 2010102679767 A CN2010102679767 A CN 2010102679767A CN 201010267976 A CN201010267976 A CN 201010267976A CN 102384341 B CN102384341 B CN 102384341B
Authority
CN
China
Prior art keywords
platform
ball
bulb
fixing
fixed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2010102679767A
Other languages
Chinese (zh)
Other versions
CN102384341A (en
Inventor
张国庆
戴家鹏
徐晓明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Original Assignee
Hongfujin Precision Industry Shenzhen Co Ltd
Hon Hai Precision Industry Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hongfujin Precision Industry Shenzhen Co Ltd, Hon Hai Precision Industry Co Ltd filed Critical Hongfujin Precision Industry Shenzhen Co Ltd
Priority to CN2010102679767A priority Critical patent/CN102384341B/en
Priority to US13/114,198 priority patent/US8505392B2/en
Publication of CN102384341A publication Critical patent/CN102384341A/en
Application granted granted Critical
Publication of CN102384341B publication Critical patent/CN102384341B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint

Abstract

A six-freedom degree motion platform comprises a fixed platform, six branched chains, a movable platform and 12 groups of fixing components. A ball head is arranged at each of two ends of each branched chain. The fixed platform and the movable platform are provided with ball sockets corresponding to the ball heads. The ball head at one end of each branched chain is rotationally connected with the fixed platform through a group of fixing components; the ball head at the other end is rotationally connected with the movable platform through another group of fixing components. Each fixing component comprises a ball cover which covers the ball socket and contacts with the ball head, and a fixing element for fixing the ball cover on the fixed platform. Each fixing element is sleeved with an elastic element. The elastic element provides elasticity so that the ball cover is attached to the ball head. The six-freedom degree motion platform is provided with the elastic element on the fixing element so as to ensure the ball heads stably rotate in the rotating process; the elastic element can hold the ball cover and the gasket so that the ball head is still attached to the ball cover and the gasket, and the ball head also can stably rotate even if the ball head is abraded after being used for a long time.

Description

6-dof motion platform
Technical field
The present invention relates to a kind of moving platform, relate in particular to a kind of 6-dof motion platform.
Background technique
Existing 6-dof motion platform generally comprises a fixed platform, six side chains and a moving platform.The general fixed placement of fixed platform, six side chains all utilize ball pivot to connect fixed platform and moving platform, and each side chain can fore and aft motion.Like this, by controlling side chain, can make moving platform do the three-dimensional mobile motion reached around various tracks such as coordinate axes rotations with respect to fixed platform, be widely used in the experiments such as flight simulation, sea wave simulation.But this 6-dof motion platform is after long-time the use, ball pivot easily weares and teares, and causes shaking in the moving platform movement process, and positioning precision is lower, is difficult to be used in the occasion of high-precision requirement.
Summary of the invention
In view of foregoing, be necessary the 6-dof motion platform that provides a kind of positioning precision high.
A kind of 6-dof motion platform, it comprises a fixed platform, six side chains, a moving platform and 12 groups of fixing-assemblys.Each side chain two ends is provided with a bulb, all offers the ball-and-socket corresponding with this bulb on fixed platform and moving platform.The bulb of each side chain one end is rotatably connected on fixed platform by one group of fixing-assembly, and the bulb of an other end is rotatably connected on moving platform by another group fixing-assembly.Fixing-assembly comprises that lid is located on ball-and-socket and with the contacted spherical cap of bulb and spherical cap is fixed on to the fixed block on fixed platform.Offer respectively six grooves on this fixed platform and on this moving platform, this ball-and-socket be opened in corresponding groove diapire on, offer the anticreep hole that size is less than this bulb on this spherical cap, this ball head component of rotation is placed in this anticreep hole and with the sidewall in this anticreep hole and fits.This fixing-assembly also comprises elastic component and pad, offer the through hole identical with the anticreep hole dimension on this pad, pad is rubber sheet gasket, pad is set on this bulb, and be located between the diapire of this spherical cap and this groove, being arranged with elastic component on fixed block, this elastic component is positioned at the side of this fixed block away from this pad, elastic component provides elastic force, makes spherical cap and bulb laminating.
Described 6-dof motion platform is equipped with elastic component on fixed block, guarantee bulb slow-roll stabilization in rotation process, even after permanent the use, bulb weares and teares, elastic component will pressure holding spherical cap and pad, make bulb still with spherical cap and pad, keep laminating, still can keep the bulb slow-roll stabilization.
The accompanying drawing explanation
Fig. 1 is the stereogram of the 6-dof motion platform of embodiment of the present invention.
Fig. 2 is the three-dimensional exploded view of 6-dof motion platform shown in Fig. 1.
Fig. 3 is the side chain of the 6-dof motion platform shown in Fig. 2 and the stereo decomposing enlarged view of fixing-assembly.
Fig. 4 is the sectional view of the 6-dof motion platform shown in Fig. 1.
The primary component symbol description
6-dof motion platform 200
Fixed platform 21
Groove 210
Ball-and-socket 211
Fixed hole 213
Side chain 23
Body 231
Cylinder 2311
Joint 233
Connecting rod 2331
Bulb 2333
Moving platform 25
Groove 250
Ball-and-socket 251
Fixed hole 253
Fixing-assembly 27
Spherical cap 271
The anticreep hole 2711
Guide hole 2713、2733
Pad 273
Through hole 2731
Fixed block 275
Elastic component 277
Embodiment
Below in conjunction with drawings and the embodiments, 6-dof motion platform of the present invention is described in further detail.
Refer to Fig. 1 and Fig. 2,6-dof motion platform 200 of the present invention comprises a fixed platform 21, six side chains 23, moving platform 25 and 12 groups of fixing-assemblys 27.Wherein, one end of each side chain 23 is rotatably connected on fixed platform 21, an other end is rotatably connected on moving platform 25, and each side chain 23 is scalable, make moving platform 25 do three dimensional motion with respect to fixed platform 21 or rotate around different coordinate axes, and then with different orientation loaded objects or do other purposes.Fixing-assembly 27 is for being arranged on side chain 23 fixed platform 21 and moving platform 25.
Fixed platform 21 is rounded, offers six grooves 210 on a surface, and offers a ball-and-socket 211 on the diapire of each groove 210, for six side chains 23 are installed.Six grooves 210 in twos one group of adjacent distributions at fixed platform 21 position near peripheries.Fixed platform 21 offers four fixed holes 213 on the diapire of each groove 210 around ball-and-socket 211.Moving platform 25 is similar to fixed platform 21, also offers six grooves 250 on moving platform 25, and offers a ball-and-socket 251 and four fixed holes 253 on the diapire of each groove 250.
Please be simultaneously referring to Fig. 3 and Fig. 4, each side chain 23 comprises a body 231, lays respectively at two joints 233 at body 231 two ends.Be provided with cylinder 2311 in body 231.Joint 233 comprises connecting rod 2331 and bulb 2333.Connecting rod 2331 is arranged on body 231, and can under the driving of cylinder 2311, stretch.Bulb 2333 is formed on the end of connecting rod 2331 away from body 231, and is complementary with the ball-and-socket 211 of fixed platform 21.
Every group of fixing-assembly 27 comprises a spherical cap 271, pad 273, a plurality of fixed block 275 and four elastic components 277.Spherical cap 271 offers anticreep hole 2711 in the middle, and offers four guide holes 2713 around anticreep hole 2711.The size in anticreep hole 2711 is less than the diameter of bulb 2333 and is greater than the size of connecting rod 2331, and the connecting rod 2331 of side chain 23 can not be deviate from through anticreep hole 2711 and bulb 2333 in anticreep hole 2711.Guide hole 2713 is for passing for fixed block 275.Offer the through hole 2731 measure-alike with anticreep hole 2711 on pad 273, and offer the guide hole 2733 identical with the guide hole 2713 of spherical cap 271 around through hole 2731.In present embodiment, fixed block 275 is fixing pin, and pad 273 is rubber sheet gasket, and elastic component 277 is dish-shaped shell fragment, and the quantity of fixed block 275 is four.
During assembling, the bulb 2333 of each side chain 23 1 end is arranged in the ball-and-socket 211 on fixed platform 21, pad 273 and spherical cap 271 are set on the connecting rod 2331 of side chain 23 successively, then cover on the diapire of fixed platform 21 grooves 210, each fixed block 275 is successively through elastic component 277, the guide hole 2713 of spherical cap 271 and pad 273, 2733 and be screwed in the fixed hole 213 of fixed platform 21, spherical cap 271 and pad 273 are fixed on fixed platform 21, use bulb 2333 to be positioned at ball-and-socket 211, and part is positioned at the anticreep hole 2711 of spherical cap 271 and through hole 2731 rotations of pad 273, can not in spherical cap 271, deviate from.In the same way, the other end of side chain 23 can be installed in rotation on moving platform 25 by another group fixing-assembly 27.Elastic component 277 is in compressive state, elastic force is provided, spherical cap 271 is closely locked on fixed platform 21, through hole 2731 sidewalls of the outer wall of bulb 2333 and pad 273 or the sidewall in spherical cap 271 anticreep holes 2711 fit, prevent that bulb 2333 from shaking in rotation process, more stable, wearing and tearing when also can reduce bulb 2333 rotation simultaneously.One or more the connecting rod 2331 that the user can control six side chains 23 stretches out predetermined length, and then makes moving platform 25 tilt according to actual needs or rotate to precalculated position, and accurate location.
6-dof motion platform 200 of the present invention is equipped with elastic component 277 on fixed block 275, guarantees bulb 2333 slow-roll stabilization in rotation process.Even, after permanent the use, bulb weares and teares, elastic component 277 will pressure holding spherical cap 271 and pad 273, makes bulb 2333 still with spherical cap 271 and pad 273, keep laminating, maintenance bulb 2333 slow-roll stabilizations.Being appreciated that elastic component 277 is not limited to dish-shaped shell fragment, can be also spring.Pad 273 can omit.
In addition, those skilled in the art also can do other variation in spirit of the present invention.Certainly, the variation that these are done according to spirit of the present invention, all should be included in the present invention's scope required for protection.

Claims (5)

1. a 6-dof motion platform, it comprises a fixed platform, six side chains, a moving platform and 12 groups of fixing-assemblys, each side chain two ends is provided with a bulb, all offer the ball-and-socket corresponding with this bulb on fixed platform and moving platform, the bulb of each side chain one end is rotatably connected on this fixed platform by one group of fixing-assembly, the bulb of an other end is rotatably connected on this moving platform by another group fixing-assembly, this fixing-assembly comprises that lid is located on this ball-and-socket and with the contacted spherical cap of bulb and this spherical cap is fixed on to the fixed block on this fixed platform, it is characterized in that: on this fixed platform and on this moving platform, offer respectively six grooves, this ball-and-socket is opened on the diapire of corresponding groove, offer the anticreep hole that size is less than this bulb on this spherical cap, this ball head component of rotation is placed in this anticreep hole and with the sidewall in this anticreep hole and fits, this fixing-assembly also comprises elastic component and pad, offer the through hole identical with the anticreep hole dimension on this pad, pad is rubber sheet gasket, pad is set on this bulb, and be located between the diapire of this spherical cap and this groove, sheathed this elastic component on this fixed block, this elastic component is positioned at the side of this fixed block away from this pad, this elastic component provides elastic force, make this spherical cap and the laminating of this bulb.
2. 6-dof motion platform as claimed in claim 1, it is characterized in that: the fixed block of every group of fixing-assembly is a plurality of, offers a plurality of and this fixed block guide hole one to one on each spherical cap around in the anticreep hole.
3. 6-dof motion platform as claimed in claim 1, it is characterized in that: this elastic component is dish-shaped shell fragment.
4. 6-dof motion platform as claimed in claim 1 is characterized in that: each side chain also comprises body and is positioned at the body two ends and the flexible connecting rod of this body relatively, and each bulb is arranged on the end of a connecting rod away from body.
5. 6-dof motion platform as claimed in claim 4, is characterized in that: be provided with in this body and drive the flexible cylinder of this connecting rod.
CN2010102679767A 2010-08-31 2010-08-31 Six-freedom degree motion platform Expired - Fee Related CN102384341B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2010102679767A CN102384341B (en) 2010-08-31 2010-08-31 Six-freedom degree motion platform
US13/114,198 US8505392B2 (en) 2010-08-31 2011-05-24 Mobile platform with six degrees of freedom

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010102679767A CN102384341B (en) 2010-08-31 2010-08-31 Six-freedom degree motion platform

Publications (2)

Publication Number Publication Date
CN102384341A CN102384341A (en) 2012-03-21
CN102384341B true CN102384341B (en) 2013-12-11

Family

ID=45695409

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010102679767A Expired - Fee Related CN102384341B (en) 2010-08-31 2010-08-31 Six-freedom degree motion platform

Country Status (2)

Country Link
US (1) US8505392B2 (en)
CN (1) CN102384341B (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2401365T3 (en) * 2009-11-20 2013-04-19 Eads Deutschland Gmbh Shock Insulation Structure
US20150321360A1 (en) * 2012-10-02 2015-11-12 Avs Added Value Industrial Engineering Solutions, S.L. Manipulator for an ultra-high-vacuum chamber
FR2997887B1 (en) 2012-11-14 2015-07-10 Commissariat Energie Atomique HEXAPODE SYSTEM
FR2997888B1 (en) * 2012-11-14 2015-08-21 Commissariat Energie Atomique ARTICULATED ARM
EP2981398A4 (en) * 2013-04-04 2016-11-16 Ben Shelef Improved kinematic mount
US9400378B2 (en) * 2014-08-08 2016-07-26 University Of Macau Rotary flexure micropositioning stage with large rotational range
GB201505800D0 (en) * 2015-04-02 2015-05-20 Mclaren Applied Technologies Ltd Motion arrangement
US10156264B2 (en) * 2015-08-26 2018-12-18 D & D Design and Manufacturing, Inc. Rotary joint constant velocity stabilizer
CN108136590B (en) * 2015-10-26 2021-07-13 索尼公司 Parallel link robot and operating device
CN105635539A (en) * 2016-01-25 2016-06-01 成都科创谷科技有限公司 Monitoring camera with automatic telescopic device
CN106641634B (en) * 2016-11-29 2019-05-03 哈尔滨工业大学深圳研究生院 Compact cradle head mechanism
CN106838568B (en) * 2016-11-29 2019-02-05 哈尔滨工业大学深圳研究生院 Mixed connection Three Degree Of Freedom cradle head mechanism
CN106730416B (en) * 2016-12-31 2023-06-30 广东恒聚医疗科技有限公司 Double parallel positioning mechanism for sitting posture radiotherapy
US10413836B2 (en) 2017-02-08 2019-09-17 Universal City Studios Llc Motion generating platform assembly
CN108150782B (en) * 2018-02-02 2019-07-23 上海海事大学 A kind of six degree of freedom compensation of undulation platform
US20200009746A1 (en) * 2018-07-03 2020-01-09 Swift Engineering, Inc. Robotic forearms
FR3107099A1 (en) * 2020-02-07 2021-08-13 Airbus Operations (S.A.S.) Elastic connection device between two concentric parts and assembly comprising such an elastic connection device
EP3889543B1 (en) * 2020-04-01 2023-06-07 Leica Geosystems AG Six-dof measurement accessory module for determining 3d coordinates of points of an object surface to be measured

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2677679Y (en) * 2004-01-06 2005-02-09 上海科先液压成套有限公司 Six-freedom hydraulic servo platfrom with ball socket
EP1561550A1 (en) * 2004-01-28 2005-08-10 Guido Kübler GmbH Device for spatially positioning and supporting a working element in connection with a base element and use of such a device
CN201153012Y (en) * 2008-01-25 2008-11-19 北京摩诘创新科技有限公司 Large loaded 6 freedom degree electricity driving platform
CN201180735Y (en) * 2007-12-05 2009-01-14 东风汽车有限公司设备制造厂 Ball stud assembly

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5114300A (en) * 1989-03-02 1992-05-19 Wovenwire Corporation Robotic apparatus
US5028180A (en) * 1989-09-01 1991-07-02 Sheldon Paul C Six-axis machine tool
US5419008A (en) * 1991-10-24 1995-05-30 West; Mark Ball joint
US5538373A (en) * 1992-02-20 1996-07-23 Giddings & Lewis, Inc. Machine tool vibration isolation system
US5263382A (en) * 1992-04-13 1993-11-23 Hughes Aircraft Company Six Degrees of freedom motion device
US5568993A (en) * 1994-12-21 1996-10-29 The United States Of America As Represented By The Secretary Of Commerce Strut structure and rigid joint therefor
JPH09131690A (en) * 1995-11-09 1997-05-20 Mitsubishi Heavy Ind Ltd 6-shaft load detector
JP2000502000A (en) * 1995-12-20 2000-02-22 アレクサンダー コンラート ヴィーガント Apparatus for controlled body movement in three to six degrees of freedom
US5870834A (en) * 1996-10-22 1999-02-16 Sheldon/Van Someren, Inc. Six-axis metrology sensor device
US6330837B1 (en) * 1997-08-28 2001-12-18 Microdexterity Systems, Inc. Parallel mechanism
US6223604B1 (en) * 1998-01-23 2001-05-01 Wisconsin Alumni Research Foundation Mobile truss testing apparatus
US6021579A (en) * 1998-04-01 2000-02-08 Joseph M. Schimmels Spatial parallel compliant mechanism
JP3443030B2 (en) * 1999-03-31 2003-09-02 オークマ株式会社 measuring device
SE0003912D0 (en) * 2000-10-24 2000-10-24 Abb Ab Industrial robot
JP2005536703A (en) * 2001-07-05 2005-12-02 マイクロデクステラティー・システムズ・インコーポレーテッド Parallel manipulator
US7040033B2 (en) * 2001-10-05 2006-05-09 Trustees Of Stevens Institute Of Technology Six degrees of freedom precision measuring system
US6671975B2 (en) * 2001-12-10 2004-01-06 C. William Hennessey Parallel kinematic micromanipulator
US6840127B2 (en) * 2003-02-05 2005-01-11 Michael Julius Moran Tendon link mechanism with six degrees of freedom
JP2004293572A (en) * 2003-03-25 2004-10-21 Somic Ishikawa Inc Ball joint and manufacturing method therefor
AT502864A3 (en) * 2004-10-11 2008-08-15 Ehrenleitner Franz PARALLEL KINEMATIC ROBOT
US7971496B2 (en) * 2005-03-09 2011-07-05 Franz Ehrenleitner Method for determining the elastic deformation of components
US20060241810A1 (en) * 2005-04-20 2006-10-26 Dan Zhang High stiffness, high accuracy, parallel kinematic, three degree of freedom motion platform
ITRM20050337A1 (en) * 2005-06-28 2006-12-29 Finmeccanica Spa MECHANISM OF IMPLEMENTATION WITH A THREE-DIMENSIONAL STRAIGHT GUIDE.
US20070284502A1 (en) * 2006-06-13 2007-12-13 Nikon Corporation Hexapod kinematic mountings for optical elements, and optical systems comprising same
GB0611979D0 (en) * 2006-06-16 2006-07-26 Renishaw Plc Coordinate positioning machine
GB0611984D0 (en) * 2006-06-16 2006-07-26 Renishaw Plc Pivot joint
US20100268250A1 (en) * 2009-04-17 2010-10-21 Microdexterity Systems, Inc. Surgical system with medical manipulator and sterile barrier
US8453512B2 (en) * 2010-06-17 2013-06-04 The Aerospace Corporation High-frequency, hexapod six degree-of-freedom shaker

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2677679Y (en) * 2004-01-06 2005-02-09 上海科先液压成套有限公司 Six-freedom hydraulic servo platfrom with ball socket
EP1561550A1 (en) * 2004-01-28 2005-08-10 Guido Kübler GmbH Device for spatially positioning and supporting a working element in connection with a base element and use of such a device
CN201180735Y (en) * 2007-12-05 2009-01-14 东风汽车有限公司设备制造厂 Ball stud assembly
CN201153012Y (en) * 2008-01-25 2008-11-19 北京摩诘创新科技有限公司 Large loaded 6 freedom degree electricity driving platform

Also Published As

Publication number Publication date
US8505392B2 (en) 2013-08-13
CN102384341A (en) 2012-03-21
US20120048156A1 (en) 2012-03-01

Similar Documents

Publication Publication Date Title
CN102384341B (en) Six-freedom degree motion platform
US9394936B2 (en) Ball joint
CN102996617A (en) Spherical hinge mechanism, branched chain employing spherical hinge mechanism, and parallel robot thereof
CN102019619B (en) Joint
US20160367425A1 (en) Apparatus, system, and method for a reciprocating treatment device
CN104201512B (en) Charging connection mechanism under water
CN106574584B (en) Fuel supply system
JP2018531063A5 (en)
US8991675B2 (en) Dynamic clutch apparatus for electrical nail gun
US9841079B2 (en) Device for guiding elongate object
KR20100134041A (en) Reaction rod arrangement
TWM501716U (en) Ball joint structure
CN104379220B (en) Sports equipment
US20040102136A1 (en) Spring-loaded contour following end effectors for lapping/polishing
CN204096096U (en) Tripod head connection structure and aircraft
KR102415855B1 (en) Omni-directionally movable wheel and robot using the same
CN205136971U (en) Support for tablet electronic equipment
CN103185191B (en) Supporting construction
CN207978187U (en) A kind of parallel clamp device of flexibility
TWI454349B (en) Parallel robot
CN108161976B (en) Humanoid flexible neck joint capable of shaking left and right and nodding front and back
CN201475155U (en) Pivot device
TWI445896B (en) Mobile platform with six degrees of freedom
CN110366477A (en) Robot cell with individual actuator and common reversed actuator devices for multiple sections
KR101256444B1 (en) Robot eye ball device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20131211

Termination date: 20160831